六自由度局部闭链操作臂逆运动方程的一种新解法

A new solution for inverse kinematics equations of 6 DOF robotic manipulator with local closed chain

给出了机器人逆运动问题中六自由度局部闭链操作臂逆运动方程的一种新解法 .该方法是基于 D- H方法模型 ,在求解中只需一次逆乘 ,不需要对操作臂末端位姿进行坐标变换 ,避免了大量的逆矩阵相乘运算 。

A new solution for inverse kinematics equation of 6 DOF robotic manipulator with local closed chain is presented. It is based on the D\|H model and doesnt need to change the coordinates of manipulator and effector. Additionally it avoids much inverse matrices multiplication in the course of deduction. So it is simple and suitable for simulation and control.